CN110048648A - A kind of motor control method and terminal device - Google Patents
A kind of motor control method and terminal device Download PDFInfo
- Publication number
- CN110048648A CN110048648A CN201910209329.1A CN201910209329A CN110048648A CN 110048648 A CN110048648 A CN 110048648A CN 201910209329 A CN201910209329 A CN 201910209329A CN 110048648 A CN110048648 A CN 110048648A
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- China
- Prior art keywords
- motor
- driving
- operating temperature
- driving voltage
- voltage
- Prior art date
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0852—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load directly responsive to abnormal temperature by using a temperature sensor
Abstract
The embodiment of the present invention provides a kind of motor control method and terminal device, is related to field of terminal technology, may burn motor during the driving voltage for increasing motor in the prior art eliminates stall for solving the problem of.This method, comprising: in the case where stall occurs for motor, obtain the driving current of the motor；The operating temperature of the motor is obtained according to the driving current of the motor；In the case where the operating temperature of the motor is less than threshold temperature, the driving voltage of the motor is promoted into the first preset value, after driving voltage promotion, driving voltage output time span is set as the second preset value.The embodiment of the present invention is used for the manufacture of terminal device.
Description
Technical field
The present invention relates to field of terminal technology more particularly to a kind of motor control methods and terminal device.
Background technique
Stepper motor refers to the opened loop control motor that electric impulse signal is converted to angular displacement or displacement of the lines, in non-overload
In the case of, the revolving speed of motor, the angle of rotation are solely dependent upon the frequency and number of pulses of pulse signal, without by load variation
Influence, thus the revolving speed of motor may be implemented by stepper motor, the angle of rotation accurately controls.
For the stretching speed and distance of stretch out and draw back of the telescopic camera of accurate controlling terminal equipment, in the prior art generally
Extending and retracting for telescopic camera is driven using stepper motor, and controls the driving of output stepper motor by controller
Electric current.Under normal circumstances, the mode of motor driver input driving current includes: synchronizing drive mode and Multi-level microstep mode.
Wherein, under synchronizing drive mode, the driving current for inputting stepper motor is pulse width modulation (the Pulse Width of standard
Modulation, PWM) wave, the waveform of driving current is square wave.Under Multi-level microstep mode, the driving electricity of stepper motor is inputted
The duty ratio of stream can be adjusted according to demand, and the waveform of driving current is sine wave.And it is driven in synchronizing drive mode and subdivision
Under dynamic model formula, the peak point current of driving current can be limited by setting.In addition, if peak point current is arranged it is excessive,
It then may result in stepper motor route to burn, influence the service life of stepper motor, if by the too small of peak point current setting,
It is too small that stepper motor inputs thrust, and then often overloads and stall, therefore setting in the peak driving voltage of stepper motor occurs
Need to balance the service life and stepper motor input thrust of stepper motor, the mistake that peak driving voltage cannot be arranged when setting
Greatly, peak drive current can not be arranged too small.However, in the use process of the terminal device comprising telescopic camera
In, the telescopic camera of terminal device may fall into telescopic camera expansion rail because of dust granule, foreign matter hinders
The reasons such as telescopic camera is flexible, cause stepper motor stall, need at this time the driving voltage by increasing stepper motor come
Increase the thrust of stepper motor output, it is possible to the stall of stepper motor can be eliminated, but increase the driving electricity of stepper motor
Pressure may also can burn stepper motor.
Summary of the invention
The embodiment of the present invention provides a kind of terminal device, and the driving voltage for solving to increase in the prior art motor is eliminated
During stall, the problem of motor may be burnt.
In order to solve the above-mentioned technical problem, the present invention is implemented as follows:
In a first aspect, the embodiment of the invention provides a kind of motor control methods, comprising:
In the case where stall occurs for motor, the driving current of the motor is obtained；
The operating temperature of the motor is obtained according to the driving current of the motor；
In the case where the operating temperature of the motor is less than threshold temperature, the driving voltage of the motor is promoted first
Driving voltage output time span is set as the second preset value after driving voltage promotion by preset value.
Second aspect, the embodiment of the invention provides a kind of terminal devices, comprising: stall detection module, power module, electricity
Mechanical, electrical stream detection module and processing module；
The stall detection module, for detecting whether the motor occurs stall；
The current detection module, in the case where stall occurs for the motor, obtaining the driving electricity of the motor
Stream；
The processing module for obtaining the operating temperature of the motor according to the driving current of the motor, and determines
Whether the operating temperature of the motor is less than threshold temperature；
The power module, for the operating temperature of the motor be less than threshold temperature in the case where, by the motor
Driving voltage promoted the first preset value, the driving voltage promotion after, by driving voltage output time span be set as second
Preset value.
The third aspect includes: processor, memory, display the embodiment of the invention provides a kind of terminal device and is deposited
The computer program that can be run on the memory and on the processor is stored up, the computer program is by the processor
The step of motor control method as described in second aspect is realized when execution.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Computer program is stored on medium, and the motor control as described in second aspect is realized when the computer program is executed by processor
The step of method.
Whether motor control method provided in an embodiment of the present invention, first detection motor occur stall, and in the motor
In the case where stall occurs, the driving current of motor is obtained, the motor is then obtained according to the driving current of the motor
Operating temperature, and determine whether the operating temperature of the motor is less than threshold temperature, it is finally small in the operating temperature of the motor
In the case where threshold temperature, the driving voltage of the motor is promoted into the first preset value, it, will after driving voltage promotion
Driving voltage output time span is set as the second preset value, and motor control method provided in an embodiment of the present invention occurs stifled in motor
When turning, the driving current of motor is obtained first, and the operating temperature of motor is obtained according to the driving current of motor, and only in electricity
When the operating temperature of machine is less than threshold temperature, the driving voltage of motor just will increase, therefore the embodiment of the present invention can be to avoid increasing
The problem of driving voltage of big motor may burn motor during eliminating stall.
Detailed description of the invention
Fig. 1 is the architecture diagram of Android operation system provided by the embodiments of the present application；
Fig. 2 is the step flow chart of motor control method provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of terminal device provided in an embodiment of the present invention；
Fig. 4 is the hardware structural diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"；In formula, character "/" indicates forward-backward correlation
Object is the relationship of a kind of " being divided by ".If explanation is not added, " multiple " herein refer to two or more.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in an embodiment of the present invention, use " the
One ", the printed words such as " second " distinguish function or the essentially identical identical entry of effect or similar item, and those skilled in the art can
To understand that the printed words such as " first ", " second " are not defined quantity and execution order.
In the embodiment of the present invention, " illustrative " or " such as " etc. words for indicate make example, illustration or explanation.This hair
Be described as in bright embodiment " illustrative " or " such as " any embodiment or design scheme be not necessarily to be construed as than it
Its embodiment or design scheme more preferably or more advantage.Specifically, use " illustrative " or " such as " etc. words be intended to
Related notion is presented in specific ways.In embodiments of the present invention, unless otherwise indicated, the meaning of " plurality " is refer to two or
It is more than two.
In the prior art, in the use process of the terminal device comprising telescopic camera, the telescopic of terminal device is taken the photograph
As the originals such as head may fall into telescopic camera expansion rail because of dust granule, foreign matter hinders telescopic camera flexible
Cause causes stepper motor stall, although increasing the driving voltage of stepper motor at this time to increase the thrust of stepper motor output, just
It is possible that the stall of stepper motor can be eliminated, but the driving voltage for increasing stepper motor may also can burn stepper motor.
Based on the above issues, the embodiment of the invention provides a kind of motor control method and terminal device, the motor controls
Whether method, first detection motor occur stall, and in the case where stall occurs for the motor, obtain the driving electricity of motor
Then stream obtains the operating temperature of the motor according to the driving current of the motor, and determines the operating temperature of the motor
Whether threshold temperature is less than, finally in the case where the operating temperature of the motor is less than threshold temperature, by the drive of the motor
Driving voltage output time span is set as second and preset by dynamic the first preset value of voltage increase after driving voltage promotion
Value, motor control method provided in an embodiment of the present invention obtain the driving current of motor, and root when stall occurs for motor first
The operating temperature of motor is obtained according to the driving current of motor, and only when the operating temperature of motor is less than threshold temperature, just meeting
Increase motor driving voltage, therefore the embodiment of the present invention can to avoid increase motor driving voltage eliminate stall during
The problem of motor may be burnt.
Motor control method provided by the embodiments of the present application can be applied to terminal device, the terminal device can for
The terminal device of operating system.The operating system can be Android operation system, or iOS operating system can also be
Other possible operating systems, the embodiment of the present application are not construed as limiting.
Below by taking Android operation system as an example, introduce applied by motor control method provided by the embodiments of the present application
Software environment.
As shown in Figure 1, being a kind of configuration diagram of possible Android operation system provided by the embodiments of the present application.Scheming
In 1, the framework of Android operation system includes 4 layers, be respectively as follows: application layer, application framework layer, system Runtime Library layer and
Inner nuclear layer (is specifically as follows Linux inner core).
Wherein, application layer includes each application program (including system application and in Android operation system
Tripartite's application program).
Application framework layer is the frame of application program, and developer can be in the exploitation for the frame for abiding by application program
In the case where principle, some application programs are developed based on application framework layer.
System Runtime Library layer includes library (also referred to as system library) and Android operation system running environment.Library is mainly Android behaviour
As system it is provided needed for all kinds of resources.Android operation system running environment is used to provide software loop for Android operation system
Border.
Inner nuclear layer is the operating system layer of Android operation system, belongs to the bottom of Android operation system software level.It is interior
Stratum nucleare provides core system service and hardware-related driver based on linux kernel for Android operation system.
By taking Android operation system as an example, in the embodiment of the present application, developer can be based on above-mentioned Android as shown in Figure 1
The software program of motor control method provided by the embodiments of the present application is realized in the system architecture of operating system, exploitation, so that
The motor control method can be run based on Android operation system as shown in Figure 1.I.e. processor or terminal device can lead to
It crosses and runs software program realization motor control method provided by the embodiments of the present application in Android operation system.
Terminal device provided by the embodiments of the present application can be mobile phone, tablet computer, laptop, super mobile personal
Computer (ultra-mobile personal computer, UMPC), net book, personal digital assistant (personal
Digital assistant, PDA), smartwatch, the terminal devices such as Intelligent bracelet or the terminal device can also be other
The terminal device of type, the embodiment of the present application are not construed as limiting.
The embodiment of the present invention provides a kind of motor control method, which is applied to the terminal with motor and sets
It is standby.Specifically, the motor control method includes the following steps S21 to S25 referring to shown in Fig. 2.
S21, determine whether motor occurs stall.
Optionally, determine that the concrete implementation mode whether blocked of motor can be in above-mentioned steps S21 are as follows:
In the case where motor rotation, whether the movement speed for detecting stretching structure is less than threshold value speed；
When the movement speed of the stretching structure is less than or equal to threshold velocity, it is stifled to confirm that the motor occurs
Turn；
When the movement speed of the stretching structure is greater than threshold velocity, confirm that stall does not occur for the motor.
Wherein, the motor is for driving the stretching structure to stretch out or retract.
In the case that stall can not occur for the threshold velocity in above-described embodiment according to motor, motor drives stretching structure
Movement speed set.Such as: in the case that stall does not occur for motor, the movement speed of motor drive stretching structure is
Threshold velocity can be then set as 1m/s by 1m/s, at this time in the case where motor rotates, if detecting the shifting of the stretching structure
Whether dynamic speed is less than 1m/s, it is determined that the stall that motor occurs.In addition it is also possible to which setting one for threshold velocity is less than electricity
Machine drives the speed of the movement speed of stretching structure, such as: threshold velocity can be set as 0.5m/s in the above-described example.
Illustratively, whether threshold can be less than or equal to by the movement speed that Hall displacement transducer detects stretching structure
It is worth speed.Specifically, Hall displacement transducer is a kind of to make sensor, wherein working principle according to Hall effect are as follows: utilize
(the additional magnetic field vertical with current direction on the semiconductor can make electronics in semiconductor and hole by not to Hall effect
Equidirectional Lorentz force and assemble in different directions, electric field can be generated between the electronics and hole to gather together, electric field
After power and Lorentz force generate balance, do not reassociate, electric field will make later electrons and holes by electric field force at this time
It acting on and balances the Lorentz force that magnetic field generates it, later electrons and holes, which are passed through, to be deviated, and half
The built-in voltage that conductor generates is known as Hall voltage) Hall voltage that the semiconductor being fixed on stretching structure generates is detected, and
Position and the movement speed of stretching structure are determined according to Hall voltage, if monitoring stretching structure does not have fully extended or contracting
It returns, and motor is not up to predefined shifting to stretching structure movement speed after the stretching of drive stretching structure or retracted orientation rotation
Dynamic speed, then stall has occurred in judgement.
Certainly, on the basis of the above embodiments, detection institute can also be realized in the embodiment of the present invention by other devices
State whether motor occurs stall, it is not limited in the embodiment of the present invention, is subject to and is able to detect whether motor is blocked.Example
Such as: detecting whether the motor occurs stall by infrared distance sensor；That is, if infrared distance sensor monitors flexible knot
Structure do not have it is fully extended, motor to drive stretching structure stretch out direction rotation after stretching structure be not displaced or it is infrared away from
It monitors stretching structure from sensor not to be fully retracted, stretching structure after motor is rotated to the direction for driving stretching structure to retract
It is not displaced, then stall has occurred in judgement.
In above-mentioned steps S21, if stall has occurred in motor, following steps S22 is executed.
S22, the driving current for obtaining the motor.
Illustratively, the implementation for obtaining the driving current of the motor can be with are as follows:
The voltage detection device of voltage with the concatenated resistance of motor and the detection resistance both ends is set, then basis
The voltage at the resistance value of the resistance and the resistance both ends obtains the driving current of the motor.
Specifically, the electric current for flowing through resistance is the driving current of motor, voltage inspection since resistance is connected with motor
After surveying units test to the voltage at resistance both ends, it can be obtained according to the resistance value of resistance, the voltage at resistance both ends and Ampere's law
Take the current value (driving current of motor) for flowing through resistance.
In addition, the detection of the driving current of motor, the present invention can also be realized in the embodiment of the present invention by other devices
This is not construed as limiting in embodiment, is subject to the driving current that can obtain motor.Such as: it can be by connecting with series electric motor
Current sensing device detection motor driving current.
S23, the operating temperature that the motor is obtained according to the driving current of the motor.
Optionally, above-mentioned steps S23 specifically may be used according to the operating temperature that the driving current of the motor obtains the motor
To include: following steps S231 and step S232.
S231, the impedance that the motor is obtained according to the driving voltage of the motor and the driving current of the motor.
Specifically, the current driving voltage of motor is that known (before not carrying out boost operations, motor driven voltage is to set
Fixed nominal operational voltage；After carrying out boost operations, motor driven voltage is nominal operational voltage+voltage increase of setting
The amplitude that number * is promoted each time), the impedance Rm of motor can be calculated by R=U/I.
S232, the operating temperature that the motor is obtained according to the impedance and preset formula of the motor；
The preset formula are as follows: (234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, and R2 is the driving electricity according to the motor
The impedance for the motor that pressure and the driving current of the motor obtain, T2 are the operating temperature of the motor.
S24, determine whether the operating temperature of the motor is less than threshold temperature.
Specifically, motor has safe working temperature range, the upper limit of safe working temperature range can be used as of the invention real
Apply the threshold temperature in example, if current operating temperature is lower than the threshold temperature, show motor operating temperature there are also room for promotion,
Therefore it is less than threshold temperature in the operating temperature for determining the motor, the driving voltage of motor can be promoted to increase motor output
Thrust, and if current operating temperature is greater than or equal to the threshold temperature, show motor operating temperature without room for promotion,
Therefore when the operating temperature for determining the motor is greater than or equal to the threshold temperature, the driving voltage of motor cannot be promoted to increase
The thrust of big motor output, otherwise may burn motor.
In above-mentioned steps S24, if the operating temperature of the motor is less than threshold temperature, following steps S25 is executed.
S25, the driving voltage of the motor is promoted into the first preset value, after driving voltage promotion, by driving electricity
Pressure output time span is set as the second preset value.
Illustratively, first preset value is 0.5 volt (V), and second preset value is 0.5 second (s).
That is, the driving voltage of motor can be using 0.5V as ladder, time pulsewidth is adjusted by ladder of 0.5s.
Whether motor control method provided in an embodiment of the present invention, first detection motor occur stall, and in the motor
In the case where stall occurs, the driving current of motor is obtained, the motor is then obtained according to the driving current of the motor
Operating temperature, and determine whether the operating temperature of the motor is less than threshold temperature, it is finally small in the operating temperature of the motor
In the case where threshold temperature, the driving voltage of the motor is promoted into the first preset value, it, will after driving voltage promotion
Driving voltage output time span is set as the second preset value, and motor control method provided in an embodiment of the present invention occurs stifled in motor
When turning, the driving current of motor is obtained first, and the operating temperature of motor is obtained according to the driving current of motor, and only in electricity
When the operating temperature of machine is less than threshold temperature, the driving voltage of motor just will increase, therefore the embodiment of the present invention can be to avoid increasing
The problem of driving voltage of big motor may burn motor during eliminating stall.
Optionally, motor control method provided in an embodiment of the present invention further include:
In the case where the motor rotation blockage is eliminated, the driving voltage of the motor is set as target drives voltage.
Optionally, target drives voltage can be the rated operational voltage of motor.
That is, then stopping continuing to lift up motor drive if motor rotation blockage is eliminated after the driving voltage of motor is promoted to a certain voltage
Motor is moved, and the driving voltage of motor is set as to the nominal operational voltage of motor.
Optionally, the operating voltage that target drives voltage can be current for motor.
That is, then stopping continuing to lift up motor driven electricity if motor rotation blockage is eliminated after the driving voltage of motor is promoted to Vi
Machine, and using Vi as the driving voltage of the motor.
In addition, on the basis of the above embodiments, however, it is determined that whether the operating temperature of the motor is greater than or equal to threshold value
Temperature, when motor rotation blockage is not eliminated yet, then can to the defeated driving voltage such as antiphase of motor, thus driving motor drive it is flexible
Structure is mobile to opposite direction.
The embodiments of the present invention also provide a kind of terminal devices, specifically, referring to shown in Fig. 3, which includes:
Motor 31, stretching structure 32, stall detection module 33, current detection module 34, processing module 35 and power module 36.
Wherein, the motor 31 is for driving the stretching structure 32 to stretch out or retract.
The stall detection module 33 is for detecting whether the motor 31 occurs stall.
The current detection module 34 is used to obtain the drive of the motor 31 in the case where stall occurs for the motor 31
Streaming current.
The processing module 35, for obtaining the operating temperature of the motor 31 according to the driving current of the motor 31,
And determine whether the operating temperature of the motor 31 is less than threshold temperature.
The power module 36 is used in the case where the operating temperature of the motor 31 is less than threshold temperature, by the electricity
The driving voltage of machine 31 promotes the first preset value, and after driving voltage promotion, driving voltage output time span is set as
Second preset value.
Optionally, the motor in the embodiment of the present invention can be stepper motor, and power module can be for by output voltage values
The Switching Power Supply that adjustable DC-DC converter is constituted, processing module can be micro-control unit (Microcontroller
Unit, MCU) central processing unit (Central Processing Unit, CPU) etc..
Optionally, the processing module 35, specifically for the driving according to the driving voltage and the motor of the motor
Electric current obtains the impedance of the motor, and the operating temperature of the motor is obtained according to the impedance of the motor and preset formula；
The preset formula are as follows: (234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, and R2 is the driving electricity according to the motor
The impedance for the motor that pressure and the driving current of the motor obtain, T2 are the operating temperature of the motor.
Optionally, first preset value is 0.5 volt, and second preset value is 0.5 second.
Optionally, the power module 36 is also used in the case where the motor rotation blockage is eliminated, by the drive of the motor
Dynamic voltage is set as target drives voltage.
Optionally, the stall detection module 33 is Hall displacement transducer；
The Hall displacement transducer is used for, and in the case where motor rotation, detects the mobile speed of the stretching structure 32
Whether degree is less than or equal to threshold velocity, in the case where the movement speed of the stretching structure 32 is greater than threshold velocity, confirmation
Stall does not occur for the motor 31, when the movement speed of the stretching structure 32 is less than or equal to threshold velocity, confirmation
Stall occurs for the motor 31.
Optionally, the current detection module 34 includes: resistance and voltage detection device；
The resistance is connected with the motor, and the voltage detection device is used to detect the voltage at the resistance both ends, and
The driving current of the motor is obtained according to the voltage of the resistance value of the resistance and the resistance both ends.
It is real that above-mentioned terminal device unit mould fast working principle and implementation are referred to above-mentioned motor control method
The explanation of the principle of each step and implementation in example is applied, to avoid repeating, details are not described herein.
Terminal device provided in an embodiment of the present invention, comprising: motor, stretching structure, stall detection module, current detecting mould
Block, processing module and power module；Wherein, the motor is for driving the stretching structure to stretch out or retract, the stall
For detecting whether the motor occurs stall, the current detection module is used to that stall to occur in the motor detection module
In the case of, the driving current of the motor is obtained, the processing module is used for according to the acquisition of the driving current of the motor
The operating temperature of motor, and determine whether the operating temperature of the motor is less than threshold temperature, the power module is used in institute
The operating temperature of motor is stated less than in the case where threshold temperature, the driving voltage of the motor is promoted into the first preset value, in institute
After stating driving voltage promotion, driving voltage output time span is set as the second preset value, terminal provided in an embodiment of the present invention
Equipment obtains the driving current of motor when stall occurs for motor first, and the work of motor is obtained according to the driving current of motor
Make temperature, and only when the operating temperature of motor is less than threshold temperature, just will increase the driving voltage of motor, therefore the present invention
The problem of embodiment may burn motor during can eliminating stall to avoid the driving voltage for increasing motor.
Hereinafter, the working principle of terminal device provided by the above embodiment is described in detail.
Firstly, voltage detection device is read and the concatenated resistance of motor in the case where monitoring motor generation stall
The voltage U at both ends, and the current value for flowing through resistance is calculated according to the resistance value R of resistance and Ampere's law electric current I=U/R, from
And obtain the driving voltage of motor.
Secondly, the processing module, according to the acquisition of the driving current of the driving voltage of the motor and the motor
The impedance of motor obtains the operating temperature of the motor according to the impedance of the motor and preset formula；
The preset formula are as follows: (234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, and R2 is the driving electricity according to the motor
The impedance for the motor that pressure and the driving current of the motor obtain, T2 are the operating temperature of the motor.
Specifically, the current driving voltage of motor is that known (before not carrying out boost operations, motor driven voltage is to set
Fixed nominal operational voltage；After carrying out boost operations, motor driven voltage is nominal operational voltage+voltage increase of setting
The amplitude that number * is promoted each time), the impedance Rm of motor can be calculated by R=U/I.Meanwhile motor operating temperature is hindered with itself
There are following relationships by anti-R:
(234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, and R2 is the driving electricity according to the motor
The impedance for the motor that pressure and the driving current of the motor obtain, T2 are the operating temperature of the motor.Illustratively, T1
It can be 25 degrees Celsius (DEG C).
Therefore, the current work temperature 2 of the available motor of processing module.
Again, after processing module obtains motor operating temperature, determine whether motor operating temperature is less than threshold temperature.
Specifically, motor has safe working temperature range, the upper limit of safe working temperature range can be used as of the invention real
Apply the threshold temperature in example, if current operating temperature is lower than the threshold temperature, show motor operating temperature there are also room for promotion,
Therefore it is less than threshold temperature in the operating temperature for determining the motor, the driving voltage of motor can be promoted to increase motor output
Thrust, and if current operating temperature is greater than or equal to the threshold temperature, show motor operating temperature without room for promotion,
Therefore when the operating temperature for determining the motor is greater than or equal to the threshold temperature, the driving voltage of motor cannot be promoted to increase
The thrust of big motor output, otherwise may burn motor.
Finally, promoting the driving electricity of motor if processing module determines that the operating temperature of the motor is less than threshold temperature
Pressure is to increase the thrust that motor exports.
Optionally, the mode for promoting the driving voltage of motor can be with are as follows: it is pre- that the driving voltage of the motor is promoted first
If value, after driving voltage promotion, driving voltage output time span is set as the second preset value.
The hardware structural diagram of the terminal device of the motor control method of the embodiment of Fig. 4 to realize the present invention, the end
End equipment includes but is not limited to: radio frequency unit 101, network module 102, audio output unit 103, input unit 104, sensor
105, display unit 106, user input unit 107, interface unit 108, memory 109, processor 110, power supply 111 and extremely
The components such as the thermal electric generator that a few any of the above-described embodiment provides.It will be understood by those skilled in the art that shown in Fig. 4 eventually
End equipment structure does not constitute the restriction to terminal device, and terminal device may include components more more or fewer than diagram, or
Person combines certain components or different component layouts.In embodiments of the present invention, terminal device include but is not limited to mobile phone,
Tablet computer, laptop, palm PC, car-mounted terminal, wearable device and pedometer etc..
Wherein, the sensor 105, for detecting whether the motor occurs stall
The processor 110, for obtaining the driving current of the motor in the case where stall occurs for the motor,
The operating temperature of the motor is obtained according to the driving current of the motor, and determines whether the operating temperature of the motor is less than
Threshold temperature；
Power supply 111, for the operating temperature of the motor be less than threshold temperature in the case where, by the driving of the motor
Driving voltage output time span is set as the second preset value after driving voltage promotion by the first preset value of voltage increase.
Whether terminal device provided in an embodiment of the present invention, first detection motor occur stall, and occur in the motor
In the case where stall, the driving current of motor is obtained, the work of the motor is then obtained according to the driving current of the motor
Temperature, and determine whether the operating temperature of the motor is less than threshold temperature, finally it is less than threshold in the operating temperature of the motor
In the case where being worth temperature, the driving voltage of the motor is promoted into the first preset value, after driving voltage promotion, will be driven
Voltage output time span is set as the second preset value.Since in motor stall occurs for terminal device provided in an embodiment of the present invention
When, the driving current of motor is obtained first, and the operating temperature of motor is obtained according to the driving current of motor, and only in motor
Operating temperature be less than threshold temperature when, just will increase the driving voltage of motor, therefore the embodiment of the present invention can be to avoid increase
The problem of driving voltage of motor may burn motor during eliminating stall.
It should be understood that the embodiment of the present invention in, radio frequency unit 101 can be used for receiving and sending messages or communication process in, signal
Send and receive, specifically, by from base station downlink data receive after, to processor 110 handle；In addition, by uplink
Data are sent to base station.In general, radio frequency unit 101 includes but is not limited to antenna, at least one amplifier, transceiver, coupling
Device, low-noise amplifier, duplexer etc..In addition, radio frequency unit 101 can also by wireless communication system and network and other set
Standby communication.
Terminal device provides wireless broadband internet by network module 102 for user and accesses, and such as user is helped to receive
It sends e-mails, browse webpage and access streaming video etc..
Audio output unit 103 can be received by radio frequency unit 101 or network module 102 or in memory 109
The audio data of storage is converted into audio signal and exports to be sound.Moreover, audio output unit 103 can also provide and end
The associated audio output of specific function (for example, call signal receives sound, message sink sound etc.) that end equipment executes.
Audio output unit 103 includes loudspeaker, buzzer and receiver etc..
Input unit 104 is for receiving audio or video signal.Input unit 104 may include graphics processor
(Graphics Processing Unit, GPU) 1041 and microphone 1042, graphics processor 1041 is in video acquisition mode
Or the image data of the static images or video obtained in image capture mode by image capture apparatus (such as camera) carries out
Reason.Treated, and picture frame may be displayed on display unit 106.Through graphics processor 1041, treated that picture frame can be deposited
Storage is sent in memory 109 (or other storage mediums) or via radio frequency unit 101 or network module 102.Mike
Wind 1042 can receive sound, and can be audio data by such acoustic processing.Treated audio data can be
The format output that mobile communication base station can be sent to via radio frequency unit 101 is converted in the case where telephone calling model.
Terminal device further includes at least one sensor 105, such as Hall displacement transducer, optical sensor, motion-sensing
Device and other sensors.Specifically, optical sensor includes ambient light sensor and proximity sensor, wherein ambient light sensing
Device can adjust the brightness of display panel 1061 according to the light and shade of ambient light, and proximity sensor can be moved to ear in terminal device
Bian Shi closes display panel 1061 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect multiple sides
The size of (generally three axis) acceleration upwards, can detect that size and the direction of gravity, can be used to identify terminal and set when static
Standby posture (such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (for example pedometer, strike
Hit) etc.；Sensor 105 can also include fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope,
Barometer, hygrometer, thermometer, infrared sensor etc., details are not described herein.
Display unit 106 is for showing information input by user or being supplied to the information of user.Display unit 106 can wrap
Display panel 1061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used
Forms such as (OrganicLight-Emitting Diode, OLED) configure display panel 1061.
User input unit 107 can be used for receiving the number of input or character information and generate and the user of terminal device
Setting and the related key signals input of function control.Specifically, user input unit 107 include touch panel 1071 and its
His input equipment 1072.Touch panel 1071, also referred to as touch screen collect the touch operation (ratio of user on it or nearby
Such as user is using finger, stylus any suitable object or attachment on touch panel 1071 or near touch panel 1071
Operation).Touch panel 1071 may include both touch detecting apparatus and touch controller.Wherein, touch detecting apparatus
The touch orientation of user is detected, and detects touch operation bring signal, transmits a signal to touch controller；Touch controller
Touch information is received from touch detecting apparatus, and is converted into contact coordinate, then gives processor 110, receives processor
110 orders sent simultaneously are executed.Furthermore, it is possible to using multiple types such as resistance-type, condenser type, infrared ray and surface acoustic waves
Type realizes touch panel 1071.In addition to touch panel 1071, user input unit 107 can also include other input equipments
1072.Specifically, other input equipments 1072 can include but is not limited to physical keyboard, function key (such as volume control button,
Switch key etc.), trace ball, mouse, operating stick, details are not described herein.
Further, touch panel 1071 can be covered on display panel 1061, when touch panel 1071 is detected at it
On or near touch operation after, send processor 110 to determine the type of touch event, be followed by subsequent processing device 110 according to touching
The type for touching event provides corresponding visual output on display panel 1061.Although in Fig. 4, touch panel 1071 and display
Panel 1061 is the function that outputs and inputs of realizing terminal device as two independent components, but in some embodiments
In, can be integrated by touch panel 1071 and display panel 1061 and realize the function that outputs and inputs of terminal device, it is specific this
Place is without limitation.
Interface unit 108 is the interface that external device (ED) is connect with terminal device.For example, external device (ED) may include it is wired or
Wireless head-band earphone port, external power supply (or battery charger) port, wired or wireless data port, memory card port,
For connecting port, the port audio input/output (I/O), video i/o port, ear port of the device with identification module
Etc..Interface unit 108 can be used for receiving the input (for example, data information, electric power etc.) from external device (ED) and will
The one or more elements or can be used in terminal device and external device (ED) that the input received is transferred in terminal device
Between transmit data.
Memory 109 can be used for storing software program and various data.Memory 109 can mainly include storing program area
The storage data area and, wherein storing program area can (such as the sound of application program needed for storage program area, at least one function
Sound playing function, image player function etc.) etc.；Storage data area can store according to mobile phone use created data (such as
Audio data, phone directory etc.) etc..In addition, memory 109 may include high-speed random access memory, it can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.
Processor 110 is the control centre of terminal device, utilizes the more of various interfaces and the entire terminal device of connection
A part is stored in memory by running or executing the software program being stored in memory 109 and/or module and call
Data in 109 execute the various functions and processing data of terminal device, to carry out integral monitoring to terminal device.Processing
Device 110 may include one or more processing units；Preferably, processor 110 can integrate application processor and modulation /demodulation processing
Device, wherein the main processing operation system of application processor, user interface and application program etc., modem processor is mainly located
Reason wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 110.
Terminal device can also include the power supply 111 (such as battery) powered to multiple components, it is preferred that power supply 111 can
With by power-supply management system and processor 110 it is logically contiguous, thus by power-supply management system realize management charge, electric discharge with
And the functions such as power managed.
In addition, terminal device includes some unshowned functional modules, details are not described herein.
The embodiment of the present application also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the computer program realize each process of above-mentioned motor control method embodiment, and energy when being executed by processor
Reach identical technical effect, to avoid repeating, which is not described herein again.Wherein, the computer readable storage medium, such as only
Read memory (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation
RAM), magnetic or disk etc..
Wherein, terminal device provided by the embodiments of the present application, computer storage medium are used to execute presented above
Corresponding method, therefore, attainable beneficial effect can refer to the beneficial effect in corresponding method presented above,
Details are not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form belongs within protection of the invention.
Claims (13)
1. a kind of motor control method, applied to the terminal device with motor, which is characterized in that the described method includes:
In the case where stall occurs for motor, the driving current of the motor is obtained；
The operating temperature of the motor is obtained according to the driving current of the motor；
In the case where the operating temperature of the motor is less than threshold temperature, the driving voltage of the motor is promoted first and is preset
Driving voltage output time span is set as the second preset value after driving voltage promotion by value.
2. the method according to claim 1, wherein described obtain the electricity according to the driving current of the motor
The operating temperature of machine, comprising:
The impedance of the motor is obtained according to the driving current of the driving voltage of the motor and the motor；
The operating temperature of the motor is obtained according to the impedance of the motor and preset formula；
The preset formula are as follows: (234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, R2 be according to the driving voltage of the motor and
The impedance for the motor that the driving current of the motor obtains, T2 are the operating temperature of the motor.
3. the method according to claim 1, wherein first preset value be 0.5 volt, second preset value
It is 0.5 second.
4. the method according to claim 1, wherein the method also includes:
In the case where the motor rotation blockage is eliminated, the driving voltage of the motor is set as target drives voltage.
5. method according to any one of claims 1 to 4, which is characterized in that the method also includes:
In the case where motor rotation, whether the movement speed for detecting stretching structure is less than or equal to threshold velocity, the motor
For driving the stretching structure to stretch out or retracting；
When the movement speed of the stretching structure is less than or equal to threshold velocity, confirm that stall occurs for the motor.
6. a kind of terminal device characterized by comprising motor, stretching structure, stall detection module, current detection module, place
Manage module and power module；
The motor is for driving the stretching structure to stretch out or retract；
The stall detection module is for detecting whether the motor occurs stall；
The current detection module is used to obtain the driving current of the motor in the case where stall occurs for the motor；
The processing module, for obtaining the operating temperature of the motor according to the driving current of the motor, and described in determination
Whether the operating temperature of motor is less than threshold temperature；
The power module is used in the case where the operating temperature of the motor is less than threshold temperature, by the driving of the motor
Driving voltage output time span is set as the second preset value after driving voltage promotion by the first preset value of voltage increase.
7. terminal device according to claim 6, which is characterized in that the processing module is specifically used for according to the electricity
The driving current of the driving voltage of machine and the motor obtains the impedance of the motor, according to the impedance of the motor and default public affairs
Formula obtains the operating temperature of the motor；
The preset formula are as follows: (234.5+T1) * R2=(234.5+T2) * R1；
Wherein, T1 is constant, and R1 is the impedance of the motor when temperature is T1, R2 be according to the driving voltage of the motor and
The impedance for the motor that the driving current of the motor obtains, T2 are the operating temperature of the motor.
8. terminal device according to claim 6, which is characterized in that first preset value is 0.5 volt, and described second is pre-
If value is 0.5 second.
9. terminal device according to claim 6, which is characterized in that
The power module is also used to that the driving voltage of the motor is set as mesh in the case where the motor rotation blockage is eliminated
Mark driving voltage.
10. according to the described in any item terminal devices of claim 6 to 9, which is characterized in that
The stall detection module is Hall displacement transducer；
The Hall displacement transducer is used for, motor rotation in the case where, detect the stretching structure movement speed whether
Less than or equal to threshold velocity, when the movement speed of the stretching structure is less than or equal to threshold velocity, described in confirmation
Stall occurs for motor.
11. according to the described in any item terminal devices of claim 6 to 9, which is characterized in that the current detection module includes:
Resistance and voltage detection device；
The resistance is connected with the motor, and the voltage detection device is used to detect the voltage at the resistance both ends, and according to
The voltage at the resistance value of the resistance and the resistance both ends obtains the driving current of the motor.
12. a kind of terminal device, comprising: processor, memory, display and be stored on the memory and can be at the place
The computer program run on reason device is realized when the computer program is executed by the processor as claim 1 to 5 is any
The step of motor control method described in item.
13. a kind of computer readable storage medium, computer program, the calculating are stored on the computer readable storage medium
It realizes when machine program is executed by processor such as the step of motor control method described in any one of claim 1 to 5.
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| CN110048648B (en) | 2021-03-16 |
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